Roof bolter support reliability testing device and evaluation method

Abstract

The invention relates to the technical field of coal roadway support, in particular to a jumbolter support reliability testing device and evaluation method.The testing device comprises an underground environment simulation system, a jumbolter support monitoring system, a jumbolter anchoring image detection system and a reliability testing system; the underground environment simulation system comprises a simulation roadway and a roadway pressure simulation mechanism, the simulation roadway is used for simulating the real size and the surface appearance of the roadway, and the roadway pressure simulation mechanism comprises a top plate pressure simulation part, a side wall pressure simulation part and a top plate and side wall comprehensive pressure simulation part. The anchor rod support monitoring system is used for monitoring the row pitch, the spacing and the three-way displacement of anchor rod supports, the anchor rod anchoring image detection system is used for detecting the straightness of anchor rods and simulating cracks generated in a roadway, and the reliability test system achieves the purpose of reliability test of multi-row and multi-anchor-rod supports. And a real roadway environment can be simulated and the anchor rod support reliability can be detected.

Description

Technical Field

[0001] The invention relates to the technical field of coal tunnel support, and in particular to a bolt drill support reliability testing device and evaluation method. Background Art

[0002] Anchor support is an economical and effective support method for coal roadways, which can significantly improve the roadway support effect, reduce support costs, and alleviate the labor intensity of workers.

[0003] With the promotion and application of efficient and rapid tunneling, the intensity, scale and output of coal mining have increased significantly, and many unprecedented complex tunnels such as soft and broken surrounding rock tunnels have emerged. Coal tunnels are used in large quantities, tunnels have developed from small sections to large sections, single tunnel layout has developed to multi-tunnel layout, tunnel burial depth has developed from shallow to deep, tunnels with simple geological conditions have developed to tunnels with complex geological conditions, and artificial anchor support has developed to automated and intelligent support. These changes have put forward higher and more stringent requirements on anchor support technology. Safe and reliable anchor support is the basis for ensuring safe production in coal mines, and it is also the premise and foundation for the intelligent development of coal mines.

[0004] The current anchor support quality inspection method fails to simulate the tunnel environmental conditions. For example, the drilling rig no-load test cannot reflect the tunnel support performance, and the drilling rig drilling test cannot reflect the actual size of the tunnel, and cannot test the roof pressure and the additional force of free rock blocks on the tunnel surrounding rock. The test items are traditional test contents, and the number of tests and acceleration tests are not assessed. The anchor support reliability index cannot be tested. There is a lack of intuitive inspection methods for anchor support inside the tunnel. The drilling rig anchor support test only detects the performance parameters of the drilling rig, but does not test the anchor support reliability. In addition, the underground anchor support quality inspection is mainly pull-out force test and sonic anchor quality inspection. The pull-out force test is a destructive test, and the sonic anchor quality inspection is not vivid and intuitive enough. The traditional anchor inspection method cannot reflect the anchor support reliability index, and cannot demonstrate and evaluate the reliability of the mutual bonding and fixation of the anchor and the rock formation. The coal mine anchor inspection is a post-inspection. If problems are found during the inspection, it will take a long time to change the design indicators of the intelligent anchor drilling vehicle, and the efficiency is low. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides an anchor drilling rig support reliability testing device and an evaluation method which can simulate a real tunnel environment and detect the reliability of anchor support.

[0006] A first aspect of the present invention provides a bolter support reliability testing device, comprising:

[0007] An underground environment simulation system, the underground environment simulation system comprising a simulated tunnel and a tunnel pressure simulation mechanism, the simulated tunnel is used to simulate the real size and surface morphology of the tunnel, the tunnel pressure simulation mechanism comprises a roof pressure simulation, a side wall pressure simulation and a roof and side wall combined pressure simulation;

[0008] An anchor support monitoring system, the anchor support monitoring system is used to monitor the row spacing, spacing and three-dimensional displacement of the anchor support;

[0009] An anchor bolt anchoring image detection system, the anchor bolt anchoring image detection system is used to detect the straightness of the anchor bolt and the cracks generated inside the simulated tunnel;

[0010] A reliability test system, wherein the reliability test system realizes reliability test objectives of multiple rows and multiple anchor supports.

[0011] Optionally, the simulated tunnel includes a mining simulation area, excavation equipment, a side wall masonry structure, an anchor support test area and a roof masonry structure. The side wall masonry structure and the roof masonry structure form a rectangular cavern structure. The anchor support test area is arranged in the rectangular cavern structure. The mining simulation area is arranged at the head of the simulated tunnel. The excavation equipment performs cutting and feeding operations in the mining simulation area to generate coal mining power, and the coal mining power is transmitted from the mining simulation area to the side wall masonry structure and the roof masonry structure.

[0012] Optionally, the simulated tunnels include blade-shaped layered rock tunnels, blocky rock tunnels, broken rock tunnels, clay filling zone and broken zone tunnels, semi-coal rock tunnels and coal tunnels in sequence along the excavation direction, and the roof and side surfaces of the simulated tunnels are both uneven surfaces.

[0013] Optionally, the tunnel pressure simulation mechanism includes a column, a side pressure simulation structure, a top plate pressure loading cylinder, a mass block, a limit block and a crossbeam;

[0014] The number of the columns is four, and the four columns are symmetrically arranged on both sides of the simulated laneway. The crossbeam is arranged on the top of the column. The mass block passes through the column, and a limiting hole is arranged on the upper part of the column. The height of the limiting hole is slightly greater than the height of the simulated laneway. The limiting block is arranged in the limiting hole to support the mass block. The number of the top plate pressure loading cylinders is two, and the two top plate pressure loading cylinders are symmetrically arranged on both sides of the simulated laneway and located on the inner side of the column. The top plate pressure loading cylinder is driven to drive the mass block to reciprocate along the axial direction of the column, so that the mass block is separated from and in contact with the top plate of the simulated laneway.

[0015] There are four side wall pressure simulation structures, and the four side wall pressure simulation structures are symmetrically arranged on both sides of the simulated tunnel. The side wall pressure simulation structure includes a box hinge pin, a box, a sleeve hinge pin, a sleeve, and a side wall loading cylinder. The box is formed by welding steel plates and is set on the ground. A track is provided inside the box, and the sleeve is connected to the track. The cylinder barrel of the side wall loading cylinder is hinged to the box through the box hinge pin, and the piston rod of the side wall loading cylinder is hinged to the sleeve through the sleeve hinge pin, driving the side wall loading cylinder. The piston rod of the side wall loading cylinder extends, driving the sleeve to extend and contact the side wall of the simulated tunnel.

[0016] Optionally, the anchor support monitoring system includes an anchor end, a universal visual sensor, an equipment coordinate system, a sensor coordinate system and a measurement and control workstation, the anchor end is an exposed anchor end that has completed support, two universal visual sensors are provided, and the two universal visual sensors are symmetrically arranged on the mining equipment, the universal visual sensor includes a pitch rotation axis, a control center and a left and right rotation axis, the pitch rotation axis is provided with an integrated image sensor signal transmitter and a signal receiver, the input end of the pitch rotation axis is connected to a limited angle torque motor, and a support arm is provided on the outside, the bottom of the support arm is connected to the left and right rotation axes, the control center drives the limited angle torque motor to drive the pitch rotation axis, thereby driving the image sensor signal transmitter and signal receiver to pitch and rotate, so as to scan the anchor ends of the same row arranged on the roof and side walls of the simulated tunnel;

[0017] The device coordinate system is set at the geometric center of the mining equipment, the sensor coordinate system is set at the center of the two universal vision sensors, the limited angle torque motor is provided with an angle sensor, the pitch angle and left and right rotation angle of the sensor coordinate system are measured by the angle sensor, the measurement and control workstation is provided with a laser pulse transmitter, a laser diode, a reflective prism, a receiver and a counter, the laser pulse transmitter periodically drives the laser diode to emit laser pulses, the reflective prism guides the laser and scans at a uniform speed, the signal receiver receives the emission signal of the laser diode, the counter counts the difference between the emission time of the laser diode and the reception time of the signal receiver, calculates the straight-line distance between the measured point and the reflective prism according to the time difference between laser emission and return and the propagation speed of the laser, calculates the three-dimensional coordinates of the measured point in the sensor coordinate system according to the horizontal scanning angle and the longitudinal scanning angle of the laser, and transforms them into the coordinate value of the device coordinate system to generate the simulated tunnel point cloud.

[0018] Optionally, the anchor bolt anchoring image detection system includes a test process slot, an image receiver, an anchor bolt, an X-ray generator and an anchoring agent. The test process slot is opened on both sides of the support area of ​​the side masonry structure and the top plate masonry structure, and the test process slot is arranged parallel to the anchor bolt support direction. The image receiver and the X-ray generator are arranged inside the test process slot. The anchor bolt is arranged in the simulated tunnel through the anchoring agent and is located between the two test process slots. The X-ray generator is driven to emit X-rays to penetrate the anchor bolt support area between the two test process slots. The image receiver receives the X-rays to obtain internal image information of the anchor bolt support area.

[0019] Optionally, the X-ray generator includes a redirecting wheel, a chain, a connecting plate, an X-ray machine, a narrow gap straightening plate, a guide rail, a wire pulling displacement sensor, a motor, a driving wheel and an electrical control box, the narrow gap straightening plate is arranged at the transmitting end of the X-ray machine, the X-ray machine is slidably connected to the guide rail, and the X-ray machine is connected to the chain through the connecting plate, the two ends of the chain are respectively engaged with the redirecting wheel and the driving wheel, the driving wheel is arranged on the output shaft of the motor through a flat key, the electrical control box controls the motor to drive the driving wheel to rotate, so as to drive the chain to move around the driving wheel and the redirecting wheel, the chain drives the X-ray machine to move along the guide rail through the connecting plate, one end of the wire pulling displacement sensor is arranged at the end of the guide rail, and the other end is arranged at the bottom of the X-ray machine, and the wire pulling displacement sensor is arranged parallel to the guide rail to collect displacement data of the X-ray machine;

[0020] The X-ray machine includes a shell, two support plates, a chain mounting plate and a pin shaft. The two support plates are symmetrically arranged at one end of the shell away from the guide rail along the extension direction of the guide rail, and the two support plates are each provided with a first groove. The number of the narrow slit straightening plates is two, and the two narrow slit straightening plates are respectively arranged in the two first grooves, and a slit is formed on the opposite side. Two groups of cylindrical holes are symmetrically opened on the shell along the extension direction of the guide rail, and the two guide rails pass through the two groups of cylindrical holes respectively. The chain mounting plate is symmetrically arranged on the connecting plate, and the pin shaft passes through the chain mounting plate and the chain, and the pin shaft is interference fit with the chain mounting plate, and the pin shaft is clearance fit with the chain, so that the chain rotates around the pin shaft.

[0021] Optionally, the reliability test system includes a top plate test block installation module, a test block bonding and fixing module, and a test block disassembly module;

[0022] The roof test block installation module includes a test block storage area, a vertical protective plate, a lateral protective plate, a longitudinal support beam, a transverse support beam, a test block and a loader. The loader is used to fork the test block from the test block storage area and install the test block on the roof masonry structure in sequence. The longitudinal support beam and the transverse support beam vertically fix the test block. The vertical protective plate is welded to the transverse support beam and has a second groove on its top. The two ends of the lateral protective plate are respectively arranged in the second grooves of two adjacent vertical protective plates.

[0023] The test block bonding and fixing module comprises a first working arm, an anchor storage bin, a roller, a partition, glue and a curing agent, a test block gap is provided between two adjacent test blocks, the anchor storage bin is arranged at the end of the first working arm, and two bin bodies are arranged inside the anchor storage bin, both bin bodies are provided with a flexible filling bag, the glue is arranged in one of the flexible filling bags, and the curing agent is arranged in the other flexible filling bag, the partition is arranged at one end of the anchor storage bin close to the first working arm, and a V-shaped groove is provided at the other end, and both wings of the V-shaped groove have nozzles, a roller is arranged between the first working arm and the partition, and the first working arm is driven to drive the roller to squeeze the partition, so that the glue and the curing agent break through the flexible filling bag and merge from the nozzle to flow into the test block gap;

[0024] The test block disassembly module includes a lift and a cutter, the cutter has a second working arm, the end of the second working arm is hingedly connected to a cutter head, the lift has four lift arms, and two adjacent lift arms are connected by a rib plate, the second working arm is driven to drive the cutter head to reciprocate along the test block gap to cut the glue and the curing agent in the test block gap, the lift is driven to drive the lift arm to lift the test block away from the top of the simulated tunnel, the loader lifts the test block on the lift arm, and transports the test block to the test block storage area.

[0025] The second aspect of the present invention provides an evaluation method for the reliability of anchor drilling rig support, which is completed based on the anchor drilling rig support reliability test device described in any one of the above items, and an anchor drilling rig support reliability acceleration test scheme and an anchor drilling rig support reliability evaluation index system matrix are developed, including an anchor drilling rig support reliability acceleration index system and an anchor drilling rig support reliability factor system;

[0026] The anchor drilling rig support reliability acceleration index system includes four acceleration indexes, namely increasing the feed cylinder flow to increase the drilling rig feed speed, increasing the drill box motor flow to increase the drill box rotation speed, increasing the hardness of the roadway test block to increase the drilling rig feed resistance and the drill box rotation cutting resistance, and increasing the drilling rig use frequency;

[0027] The system of factors affecting the reliability of anchor drilling rig support includes three dimensions, namely, task profile, tunnel geological conditions and test assessment plan. The task profile dimension includes two conditions: top anchor and auxiliary anchor. The tunnel geological condition dimension includes six influencing factors: leaf-shaped layered rock tunnel, blocky rock tunnel, broken rock tunnel, clay filling zone and broken zone tunnel, semi-coal rock tunnel and coal tunnel. The test assessment plan includes conventional tests and different accelerated life test plans, totaling sixteen assessment factors.

[0028] Optionally, the acceleration codes of the four acceleration indicators are A1, B1, C1 and D1, and the normal codes are A0, B0, C0 and D0. By taking at least one code, a total of fifteen acceleration test schemes can be obtained by permutation and combination theory, among which the A1B1C1D1 acceleration test scheme is preferred.

[0029] Optionally, the reliability index variable under the top anchor task profile of the anchor drilling rig is D, and the reliability index system matrix is:

[0030]

[0031] Among them, the first row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of blade-shaped layered rock tunnels, the second row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of blocky rock tunnels, the third row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of broken rock tunnels, the fourth row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of clay filling belts and broken belt tunnels, the fifth row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of semi-coal rock tunnels, and the sixth row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of coal tunnels;

[0032] The reliability index variable under the anchoring task profile of the anchor drilling rig is B, and the reliability index system matrix is:

[0033]

[0034] Among them, the first row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of blade-shaped layered rock tunnels, the second row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of blocky rock tunnels, the third row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of broken rock tunnels, the fourth row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of clay filling belts and broken belt tunnels, the fifth row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of semi-coal rock tunnels, and the sixth row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of coal tunnels.

[0035] Compared with the prior art, the technical solution provided by the embodiment of the present invention has the following beneficial effects:

[0036] The embodiment of the present invention provides an anchor drilling rig support reliability testing device and evaluation method, wherein the testing device includes a downhole environment simulation system, an anchor support monitoring system, an anchor anchoring image detection system and a reliability test system.

[0037] The underground environment simulation system includes a simulated tunnel and a tunnel pressure simulation mechanism. By setting up a simulated tunnel, the tunnel size and tunnel surface roughness are made consistent with the actual ones. By making different tunnel simulation test units, the goal of simulating tunnel material differences is achieved, ensuring that the tunnel geological conditions of the test are consistent with the actual ones, and realizing the detection of the actual service characteristics of the anchor drilling rig support. By developing a tunnel pressure simulation mechanism, the reliability of anchor bolt anchoring under tunnel pressure is simulated. The tunnel pressure simulation mechanism includes a tunnel pressure simulation test bench and a tunnel pressure semi-physical simulation system, which solves the technical problems of huge tunnel pressure and high test risk factor. Through proportional scaling and semi-physical simulation technology, computer simulation of tunnel pressure is realized, thereby realizing the reliability detection of anchor bolt anchoring under tunnel pressure.

[0038] The anchor support monitoring system generates point cloud data of anchor end by completely scanning multiple rows and multiple anchor supports in the tunnel. It generates images of tunnel anchor support through high-speed computer analysis and processing, particle coordinate geometric transformation and image recognition, and realizes real-time online precision testing of anchor row spacing, spacing and three-dimensional displacement. By comparing with the three-dimensional digital model, the three-dimensional geometric error data of the anchor support is obtained, which improves the test accuracy and efficiency. The test results are vivid and intuitive, and the test parameters are more comprehensive.

[0039] The anchor bolt anchoring image detection system is used to detect the straightness of the anchor bolt and simulate the cracks generated inside the tunnel. The detection method is vivid and intuitive. It uses computer image recognition technology to read and analyze the imaging detection results of the anchor bolt anchoring quality, and obtain data information such as the overall integrity, straightness, parallelism, and anchoring angle of the anchor bolt inside the masonry structure.

[0040] The reliability test system reflects the reliability of anchor support by providing a large number of test anchors, achieving the reliability test objectives of multi-row and multiple anchor supports. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0043] Figure 1 A schematic diagram of a simulated tunnel structure according to an embodiment of the present invention;

[0044] Figure 2 for Figure 1 Schematic diagram of the structure in the middle AA direction;

[0045] Figure 3 This is a schematic diagram of the structure of the tunnel pressure simulation mechanism according to an embodiment of the present invention;

[0046] Figure 4 A top view of the side support pressure simulation mechanism according to an embodiment of the present invention;

[0047] Figure 5 It is a side view of the side support pressure simulation mechanism according to an embodiment of the present invention;

[0048] Figure 6 A diagram of a tunnel pressure simulation hydraulic system according to an embodiment of the present invention;

[0049] Figure 7 A side view of the bolt support monitoring system according to an embodiment of the present invention;

[0050] Figure 8 It is a front view of the anchor support monitoring system according to an embodiment of the present invention;

[0051] Fig. 9 A schematic diagram of an anchor bolt anchoring image detection system according to an embodiment of the present invention;

[0052] Fig.10 for Fig. 9 Schematic diagram of the structure in the middle BB direction;

[0053] Fig.11 This is a schematic diagram of the structure of an X-ray generator according to an embodiment of the present invention;

[0054] Fig.12 This is a schematic diagram of the X-ray photography principle of the anchor support according to an embodiment of the present invention;

[0055] Fig.13 It is a structural schematic diagram of an X-ray machine according to an embodiment of the present invention;

[0056] Fig.14 This is a schematic diagram of a top plate test block installation module according to an embodiment of the present invention;

[0057] Fig.15 This is a schematic diagram of a test block bonding and fixing module according to an embodiment of the present invention;

[0058] Fig.16 This is a schematic diagram of a test block disassembly module according to an embodiment of the present invention;

[0059] Fig.17 It is a diagram of an accelerated test scheme for the reliability of anchor drilling rig support according to an embodiment of the present invention;

[0060] Fig.18 This is a system diagram of factors affecting the reliability of anchor drilling rig support as described in an embodiment of the present invention.

[0061] Among them, 1. Mining simulation area; 2. Excavation equipment; 3. Side masonry structure; 4. Anchor support test area; 5. Top plate masonry structure; 6. Column; 7. Side pressure simulation mechanism; 701. Box hinge pin; 702. Box; 703. Sleeve hinge pin; 704. Sleeve; 705. Side loading cylinder; 8. Top plate pressure loading cylinder; 9. Mass block; 10. Limit block; 11. Crossbeam; 12. Anchor end; 13. Universal visual sensor; 14. Equipment coordinate system; 15. Sensor coordinate system; 16. Measurement and control workstation; 17. Test process slot; 18. Image receiver; 19. Nut; 20. Pallet; 21. Anchor; 22. X-ray generator; 2201. Redirecting wheel; 2202. Chain; 2203. Connecting plate; 2204. X-ray machine; 22041. Shell; 22042, support plate; 22043, screw; 22044, chain mounting plate; 22045, pin shaft; 2205, narrow gap straightening plate; 2206, guide rail; 2207, wire displacement sensor; 2208, motor; 2209, drive wheel; 2210, electrical control box; 23, anchoring agent; 24, test block storage area; 25, vertical protection plate; 26, lateral protection plate; 27, longitudinal Support beam; 28. lateral support beam; 29. ​​test block; 30. loader; 31. glue coating machine test block bonding and fixing module; 3101. first working arm; 3102. anchor storage bin; 3103. roller; 3104. partition; 3105. glue; 3106. nozzle; 3107. curing agent; 32. test block gap; 33. lift; 34. cutter; 3401. second working arm. DETAILED DESCRIPTION

[0062] In order to more clearly understand the above-mentioned objectives, features and advantages of the present invention, the scheme of the present invention will be further described below. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0063] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present invention, rather than all of the embodiments.

[0064] Reference Figures 1 to 12 As shown, this embodiment provides a bolt drilling rig support reliability testing device, including a downhole environment simulation system, an bolt support monitoring system, an bolt anchoring image detection system and a reliability testing system.

[0065] Among them, the underground environment simulation system includes a simulated tunnel and a tunnel pressure simulation mechanism. The simulated tunnel is used to simulate the actual size and surface morphology of the tunnel. The tunnel pressure simulation mechanism includes roof pressure simulation, side wall pressure simulation and roof and side wall comprehensive pressure simulation. Specifically, the traditional anchor drilling rig support test is a type test and a factory test. No load is applied in the factory test. The type test only uses simulated test blocks for drilling tests, and does not consider tunnel size, material differences, mining power, tunnel surface morphology and surrounding rock pressure. This test device simulates underground conditions to implement anchor drilling rig support reliability tests, so that the tunnel size and tunnel surface roughness are consistent with the actual ones. By making different tunnel simulation test units, the goal of simulating tunnel material differences is achieved, ensuring that the tunnel geological conditions of the test are consistent with the actual ones, and realizing the detection of the actual service characteristics of the anchor drilling rig support. The existing drilling rig test bench only uses rock test blocks to simulate drilling, and does not consider the effect of tunnel pressure. In addition, due to the influence of mining caused by tunnel construction and excavation, blasting, hydraulic support withdrawal and other factors, the pressure from the roof and side walls is an inevitable geomechanical phenomenon in underground coal mine tunnel support. This embodiment develops a tunnel pressure simulation mechanism to simulate the reliability of anchor bolts under tunnel pressure. The tunnel pressure simulation mechanism includes a tunnel pressure simulation test bench and a tunnel pressure semi-physical simulation system, which solves the technical problems of huge tunnel pressure and high test risk factor. Through proportional scaling and semi-physical simulation technology, computer simulation of tunnel pressure is realized, thereby realizing the reliability detection of anchor bolts under tunnel pressure.

[0066] The anchor support monitoring system is used to monitor the row spacing, spacing and three-dimensional displacement of anchor support. Specifically, traditional detection uses tape measure sampling to detect the row spacing and spacing of anchors, which has large detection errors and low efficiency. It cannot reflect the real-time dynamic changes of the row spacing and spacing of anchors, and cannot obtain the overall parameter data of all anchors in the tunnel. This test device performs a complete scan of multiple rows and multiple anchor supports in the tunnel to generate point cloud data of the anchor end. Through high-speed computer analysis and processing, particle coordinate geometric transformation and image recognition, it generates an image of the tunnel anchor support, realizing real-time online precision testing of the row spacing, spacing and three-dimensional displacement of anchors. By comparing with the three-dimensional digital model, the three-dimensional geometric error data of the anchor support is obtained, which improves the test accuracy and efficiency. The test results are vivid and intuitive, and the test parameters are more comprehensive.

[0067] The anchor bolt anchoring image detection system is used to detect the straightness of the anchor bolt and simulate the cracks generated inside the tunnel. The detection method is vivid and intuitive. It uses computer image recognition technology to read and analyze the imaging detection results of the anchor bolt anchoring quality, and obtain data information such as the overall integrity, straightness, parallelism, and anchoring angle of the anchor bolt inside the masonry structure.

[0068] The reliability test system achieves multiple rows and multiple anchor support reliability test goals. Specifically, the traditional anchor drilling rig tests are factory tests and type tests. The factory test is to apply load, and the type test only implements a few anchor drilling tests. The number of test anchors is small, and only the anchor support function can be tested, but the anchor support reliability cannot be tested. The type test does not take into account the surrounding rock pressure, tunnel size and tunnel surface unevenness, and does not take into account the differences in tunnel materials. The test environment conditions and test loads are inconsistent with the actual situation. The number of test anchors provided in this embodiment is greater than 1,000, and the test samples can reflect the reliability of anchor support.

[0069] Further, see Figure 1 and Figure 2 As shown, the simulated tunnel includes a mining simulation area 1, excavation equipment 2, side wall masonry structure 3, anchor support test area 4 and roof masonry structure 5. The side wall masonry structure 3 and the roof masonry structure 5 form a rectangular cavern structure. The anchor support test area 4 is arranged in the rectangular cavern structure. The mining simulation area 1 is arranged at the head part of the simulated tunnel. The excavation equipment 2 performs cutting and feeding operations in the mining simulation area 1 to generate coal mining power, which is transmitted from the mining simulation area 1 to the side wall masonry structure 3 and the roof masonry structure 5. Specifically, the roof height of the simulated tunnel is consistent with the actual tunnel height underground, and the side wall width of the simulated tunnel is consistent with the actual tunnel width underground, realizing size simulation. The mining equipment 2 performs cutting and feeding operations in the mining simulation area 1 to generate coal mining power. The coal mining power affects the distribution of the stress field of the tunnel surrounding rock, which in turn causes changes in the anchor support force and affects the reliability of the anchor support. The mining equipment 2 is equipped with an automatic anchor drilling rig to complete the anchor support construction, realizing the functional integration of mining simulation and anchor support construction.

[0070] The simulated tunnels include blade-shaped layered rock tunnels, blocky rock tunnels, broken rock tunnels, clay filling zone and broken zone tunnels, semi-coal rock tunnels and coal tunnels in the direction of excavation, and the roof and side surfaces of the simulated tunnels are both uneven surfaces. Due to the different hardness of different sections of the tunnels, the surface of the underground tunnel formed by the cutting of the mining equipment 2 not only has knife marks, but also has undulating curved surfaces, rather than a flat surface. By developing uneven tunnels, the surface morphology conditions of the tunnel supported by anchor bolts are simulated.

[0071] Reference Figure 3As shown, the tunnel pressure simulation mechanism includes a column 6, a side pressure simulation structure 7, a roof pressure loading cylinder 8, a mass block 9, a limit block 10 and a crossbeam 11, wherein the number of columns 6 is four, and the four columns 6 are symmetrically arranged on both sides of the simulated tunnel, the crossbeam 11 is arranged on the top of the column 6, the mass block 9 passes through the column 6, and a limit hole is arranged on the upper part of the column 6, the height of the limit hole is slightly larger than the height of the simulated tunnel, the limit block 10 is arranged in the limit hole to support the mass block 9, the number of roof pressure loading cylinders 8 is two, and the two roof pressure loading cylinders 8 are symmetrically arranged on both sides of the simulated tunnel and are located on the inner side of the column 6, driving the roof pressure loading cylinder 8 to drive the mass block 9 to reciprocate along the axial direction of the column 6, so that the mass block 9 is separated from and in contact with the roof of the simulated tunnel. Specifically, a movable pair with a hole-axis fit is formed between the mass block 9 and the column 6, so that the mass block 9 can move along the axial direction of the column 6. When the simulated tunnel is not loaded, the limit block 10 supports the mass block 9 to prevent the mass block 9 from contacting the top plate of the simulated tunnel.

[0072] Reference Figure 4 and Figure 5 As shown, there are four side wall pressure simulation structures 7, which are symmetrically arranged on both sides of the simulated tunnel. The side wall pressure simulation structure 7 includes a box hinge pin 701, a box 702, a sleeve hinge pin 703, a sleeve 704, and a side wall loading cylinder 705. The box 702 is formed by welding steel plates and is set on the ground. A track is arranged inside the box 702, and the sleeve 704 is connected to the track to form a moving pair with the box 702. The cylinder barrel of the side wall loading cylinder 705 is hinged to the box 702 through the box hinge pin 701, and the piston rod of the side wall loading cylinder 705 is hinged to the sleeve 704 through the sleeve hinge pin 703, which drives the side wall loading cylinder 705. The piston rod of the side wall loading cylinder 705 extends, driving the sleeve 704 to extend and contact the side wall of the simulated tunnel.

[0073] Reference Figure 6As shown, the tunnel pressure simulation hydraulic system includes a roof loading circuit and a side loading circuit. The roof loading circuit includes two roof pressure loading cylinders 8, a hydraulic lock, an electro-hydraulic proportional overflow valve, a hydraulically controlled reversing valve and two switch ball valves. The electro-hydraulic proportional overflow valve is assembled on the oil inlet pipeline of the roof pressure loading cylinder 8. The side loading circuit includes four side loading cylinders 705, an electro-hydraulic proportional overflow valve, a hydraulically controlled reversing valve and a switch ball valve. The two circuits share a hydraulic pump, a high-pressure filter, an oil return filter, a one-way valve and a hydraulic oil tank. During the specific operation, the switch ball valve of the roof loading circuit is opened, the tunnel roof pressure simulation program is started, and the hydraulic pump drives the piston rod of the roof pressure loading cylinder 8 to extend and contact with the mass block 9. The piston rod of the roof pressure loading cylinder 8 continues to extend, so that the mass block 9 moves upward along the axis of the column 6, and the mass block 9 is out of contact with the limit block 10. The control valve is switched to the middle position. At this time, the switch ball valve of the electro-hydraulic proportional relief valve circuit is in the closed state, the hydraulic lock locks the roof pressure loading cylinder 8, the mass block 9 stops moving, and the limit block is removed. 10. Open the switch ball valve of the electro-hydraulic proportional relief valve circuit. The electro-hydraulic proportional relief valve controls the unloading flow of the roof pressure loading cylinder 8. The piston rod of the roof pressure loading cylinder 8 is retracted. The mass block 9 moves downward along the axis direction of the column 6 and contacts the roof of the simulated tunnel. It starts to apply pressure to the roof of the simulated tunnel. The control system sends instructions to control the electro-hydraulic proportional relief valve to unload according to the preset pressure. The supporting force of the piston rod of the roof pressure loading cylinder 8 on the mass block 9 is reduced in a preset manner, thereby realizing that the mass block 9 is supported in a preset manner according to the program. The method applies pressure to the simulated tunnel roof, and realizes the purpose of simulating the tunnel roof loading in different ways by changing the control command; the switch ball valve of the side wall loading circuit is opened, the tunnel side wall pressure simulation program is started, the hydraulic pump provides hydraulic power to the side wall loading cylinder 705, the piston rod of the side wall loading cylinder 705 extends, and the drive sleeve 704 extends and contacts the tunnel side wall, the hydraulic pump continues to supply oil to the side wall loading cylinder 705, the sleeve 704 continues to increase the force on the tunnel side wall, and the oil inlet of the side wall loading cylinder 705 is connected through the electro-hydraulic ratio For example, the overflow valve is connected to the hydraulic oil tank. The control system adjusts the amplitude of the loading force of the sleeve 704 on the side wall of the tunnel by adjusting the opening of the electro-hydraulic proportional overflow valve; opening the switch ball valve of the roof loading circuit and closing the switch ball valve of the side wall loading circuit can simulate the working condition of the tunnel roof coming under pressure alone, closing the switch ball valve of the roof loading circuit and opening the switch ball valve of the side wall loading circuit can simulate the working condition of the tunnel side wall coming under pressure alone, and opening the switch ball valve of the roof loading circuit and the switch ball valve of the side wall loading circuit at the same time can realize the test working condition of simulating the simultaneous pressure of the roof and the side wall. By simulating the pressure of the tunnel roof caused by mining, faults, and free rocks, the hydraulic proportional valve and control system can realize the simulation of different pressure growth modes, and the hydraulic simulation analysis can realize the simulation of breaking load and deformation.

[0074] Reference Figure 7 and Figure 8 As shown, the anchor support monitoring system includes an anchor end 12, a universal visual sensor 13, an equipment coordinate system 14, a sensor coordinate system 15 and a measurement and control workstation 16. The anchor end 12 is an exposed anchor end that completes the support. Two universal visual sensors 13 are provided, and the two universal visual sensors 13 are symmetrically arranged on the mining equipment 2. The universal visual sensor 13 includes a pitch rotation axis, a control center and a left and right rotation axis. The pitch rotation axis is provided with an integrated image sensor signal transmitter and a signal receiver. The input end of the pitch rotation axis is connected to a limited angle torque motor, and a support arm is provided on the outside. The bottom of the support arm is connected to the left and right rotation axes. The control center drives the limited angle torque motor to drive the pitch rotation axis, thereby driving the image sensor signal transmitter and signal receiver to pitch and rotate to The anchor rod ends 12 in the same row set on the simulated tunnel roof and side walls are scanned. Specifically, the anchor rod ends 12 are pre-sprayed with developer, and the control system drives the limited angle torque motor to rotate at high speed to drive the pitch rotation axis to rotate at high speed, thereby driving the signal transmitter of the image sensor to rotate quickly to scan the tunnel. When the anchor rod end 12 signal is detected, the reflected signal intensity is significantly enhanced, and the signal receiver feeds the signal back to the control system. The control system sends an instruction, and the limited angle torque motor speed is reduced to a low speed, so that the signal transmitter of the image sensor can accurately scan the anchor rod ends 12. After completing the scanning of the anchor rod ends 12 in the same row, the limited angle torque motor drives the pitch rotation axis to reset, and another limited angle torque motor drives the left and right rotation axes to rotate 90° at high speed, and the pitch rotation axis drives the image sensor to complete the scanning of multiple rows of anchor rod ends.

[0075] Continue to refer to Figure 7 and Figure 8As shown, the device coordinate system 14 is set at the geometric center of the mining equipment 2. The mining equipment 2 is equipped with an inertial navigation system and a GPS satellite positioning system. The coordinates of the geometric center of the equipment are known. The sensor coordinate system 15 is set at the center of the two universal vision sensors 13. The limited angle torque motor is provided with an angle sensor inside. The origin of the sensor coordinate system 15 relative to the origin of the device coordinate system 14 can be measured according to the three-dimensional model of the mining equipment 2. The pitch angle and left and right rotation angle of the sensor coordinate system 15 are measured by the angle sensor. The measurement and control workstation 16 is provided with a laser pulse transmitter, a laser diode, a reflecting prism, a receiver and a counter. The pulse transmitter drives the laser diode to emit laser pulses periodically, the reflective prism guides the laser and scans at a constant speed, the signal receiver receives the emission signal of the laser diode, and the counter uses a stable quartz clock to count the difference between the emission time of the laser diode and the reception time of the signal receiver. The straight-line distance between the measured point and the reflective prism is calculated based on the time difference between laser emission and return and the propagation speed of the laser. At the same time, the lateral scanning angle and longitudinal scanning angle of each laser pulse are synchronously measured based on the horizontal and vertical deflections. Then, the three-dimensional coordinates of the measured point in the sensor coordinate system 15 are calculated to transform them into coordinate values ​​in the equipment coordinate system 14 to generate a simulated tunnel point cloud.

[0076] Take the center point of the scanner as the coordinate origin, the horizontal plane as the XY plane, set the distance from the target point to the center of the scanner as S, the angle between the scanning laser line and the XY plane as θ, the angle between the projection of the scanning laser line on the XY plane and the X-axis as α, and the three-dimensional coordinates of the target point are:

[0077]

[0078] According to the known starting data translation and rotation, the sensor coordinate system 15 target point data is converted to the absolute coordinate system, and then:

[0079]

[0080] In the formula, X n , Y n , Z n It represents the coordinates of each point converted into the absolute coordinate system, X0, Y0, Z0 represent the coordinates of the center point of the scanner in the absolute coordinate system, and β represents the angle between the initial orientation of the scanner and the north direction in the absolute coordinate system.

[0081] In this embodiment, the laser pulse signal is diffusely reflected by the tunnel surface and then transmitted back to the signal receiver. The dedicated image processing system stores the coordinate data of the measured point, calculates the straight-line distance between the measured point and the scanner, and calculates the three-dimensional coordinates of the measured point in the test system coordinate system according to the horizontal scanning angle and the vertical scanning angle. The airborne inertial navigation system and the GPS satellite positioning system obtain the coordinate value of the measured point in the absolute coordinate system through coordinate transformation, and generate a simulated tunnel point cloud. The upper computer software reads the anchor end point cloud data through a computer, generates the characteristics of the tunnel anchor end, obtains the spacing and row spacing data of the anchor end 12 through data processing, and generates the horizontal, vertical and vertical displacement data of the anchor end 12 through real-time measurement, feature value extraction and calculation, thereby improving the test accuracy and test efficiency and making the test parameters more comprehensive.

[0082] Reference Fig. 9 and Fig.10 As shown, the anchor bolt anchoring image detection system includes a test process slot 17, an image receiver 18, an anchor bolt 21, an X-ray generator 22 and an anchoring agent 23. Since the roof and side walls of the simulated tunnel are large in size, it is not feasible for X-rays to penetrate the entire tunnel. Therefore, the test process slot 17 is opened on both sides of the support area of ​​the side wall masonry structure 3 and the roof masonry structure 5. At least one anchor bolt 21 support construction is completed between the two test process slots 17, and the test process slot 17 is arranged in parallel with the support direction of the anchor bolt 21. The image receiver 18 and the X-ray generator 22 are arranged inside the test process slot 17. The anchor rod 21 is arranged in the simulated tunnel through the anchor agent 23 and is located between the two test process slots 17 to form an anchor support force. A tray 20 is arranged on the top of the anchor rod 21. The tray 20 is tightened by the nut 19 to form a pre-tightening force, driving the X-ray generator 22 to emit X-rays to penetrate the anchor support area between the two test process slots 17. The image receiver 18 receives the X-rays to obtain the internal image information of the anchor support area.

[0083] Further, see Fig.11As shown, the X-ray generator 22 includes a redirecting wheel 2201, a chain 2202, a connecting plate 2203, an X-ray machine 2204, a narrow slit straightening plate 2205, a guide rail 2206, a wire displacement sensor 2207, a motor 2208, a driving wheel 2209 and an electrical control box 2210. The narrow slit straightening plate 2205 is arranged at the transmitting end of the X-ray machine 2204 for straightening the X-ray beam. The X-ray machine 2204 is slidably connected to the guide rail 2206, and the X-ray machine 2204 is connected to the chain 2202 through the connecting plate 2203. The two ends of the chain 2202 are respectively meshed with the redirecting wheel 2201 and the driving wheel 2209. The driving wheel 2209 is set by a flat key. On the output shaft of the motor 2208, the electrical control box 2210 realizes precise control of the angular displacement and angular velocity of the motor 2208 by receiving the PLC command of the control center, and controls the motor 2208 to drive the driving wheel 2209 to rotate, so as to drive the chain 2202 to move around the driving wheel 2209 and the redirecting wheel 2201, and the chain 2202 drives the X-ray machine 2204 to move along the guide rail 2206 through the connecting plate 2203. One end of the wire displacement sensor 2207 is set at the end of the guide rail 2206, and the other end is set at the bottom of the X-ray machine 2204, and the wire displacement sensor 2207 is set parallel to the guide rail 2206 to collect the X-ray machine 2204. The displacement data of the X-ray machine 2204 is collected by taking the axis of the guide rail 2206 as the Y axis and the incident direction of the X-ray as the X axis to establish a coordinate system. The base of the wire displacement sensor 2207 is fixed to the end face of the guide rail 2206 through a mounting seat, and the end of the wire is fixed to the reference surface of the shell of the X-ray machine 2204. The wire is parallel to the axis of the guide rail 2206. The wire displacement sensor 2207 monitors the displacement of the X-ray machine 2204 in the Y-axis direction. The measurement and control center collects the displacement data of the X-ray machine 2204 through the wire displacement sensor 2207 to realize the closed-loop control of the displacement of the X-ray machine 2204. The conical X-ray beam emitted by the X-ray machine 2204 is straightened by the narrow slit straightening plate 2205 to form a planar fan-shaped beam. The X-ray beam of the anchor support masonry structure is emitted into the image receiver 18, and the X-ray machine 2204 and the narrow slit straightening plate 2205 perform uniform scanning along the Y-axis direction. When the X-rays carrying the internal information of the anchor support irradiate the selenium photoconductive layer of the image receiver 18, the conductive properties of the amorphous selenium layer change, generating a certain proportion of electron-hole pairs. Under the action of the electric field formed by the bias voltage of several thousand volts, the electron-hole pairs are separated and move in the opposite direction to form an electric current. The magnitude of the current is proportional to the number of incident X-ray photons. These current charges are stored in capacitors with thin-film transistors without loss or scattering. Each capacitor forms a minimum unit for collecting images, namely a pixel.

[0084] Reference Fig.12As shown, the cone X-ray beam emitted by the X-ray machine 2204 is transformed into a plane fan-shaped beam after being straightened by the narrow slit straightening plate 2205, and then emitted into the anchor support area. The attenuation degree of the X-ray beam is related to the density of the medium inside the anchor support area. When the incident X-rays of the same intensity pass through the anchor support area, due to the different densities and thicknesses of the anchors, anchoring agents, and masonry structures, the X-ray attenuation is also different. Therefore, the intensity of the X-rays passing through the anchor support area is different, forming a difference in X-ray intensity. The X-rays passing through the anchor support area are irradiated on the amorphous selenium flat panel detector, generating a beam proportional to the intensity difference. The current reads out the pixel information and amplifies it under the control of the readout signal. After A / D conversion, the electrical signal is converted into a digital signal. After processing by the workstation, the digital signal is reconstructed to form a digital image. The digital image reflects the anchor, anchoring agent, and masonry structure inside the anchor support area through the grayscale difference affected by optical density. The distribution area and uniformity of the anchor are determined by the grayscale difference of the anchor digital image. The straightness of the anchor is obtained through data processing. The crack initiation inside the masonry structure is determined by the grayscale difference of the masonry structure, and the impact of the anchor support operation on the masonry structure of the tunnel is evaluated.

[0085] Assume that the thickness of the anchoring masonry area to be tested is T, the linear attenuation coefficient is μ, the size of the anchor hole in the direction of ray transmission is ΔT, the linear attenuation coefficient is μ1, the incident ray intensity is I0, the transmitted ray intensity that does not pass through the anchor hole is I1, and the transmitted ray intensity that passes through the anchor hole is I2. The difference in radiation intensity between the anchor hole and its vicinity is:

[0086]

[0087] Reference Fig.13As shown, the X-ray machine 2204 includes a housing 22041, two supporting plates 22042, a chain mounting plate 22044 and a pin shaft 22045. The two supporting plates 22042 are symmetrically arranged at one end of the housing 22041 away from the guide rail 2206 along the extension direction of the guide rail 2206, and the two supporting plates 22042 are both provided with a first groove. There are two narrow slit straightening plates 2205, which are respectively arranged in the two first grooves, and a slit is formed on the opposite side. Two groups of cylindrical holes are symmetrically opened on the housing 22041 along the extension direction of the guide rail 2206, and the two guide rails 2206 pass through the two groups of cylindrical holes respectively. The chain mounting plate 22044 is symmetrically arranged on the connecting plate 2203, and the connecting plate 2203 is arranged on the housing 22041 through screws 22043 and keys. 2 is a non-closed chain, that is, the circular chain is cut off, and the two ends of the cut are connected to the chain mounting plate 22044 through the pin 22045, and the pin 22045 and the chain mounting plate 22044 are interference fit, and the pin 22045 and the chain 2202 are clearance fit, so that the chain 2202 rotates around the pin 22045 without getting stuck, ensuring that the pin 22045 will not fall out during the movement. The electrical control box 2210 controls the motor 2208 to start, the driving wheel 2209 rotates, the chain 2202 bypasses the redirecting wheel 2201, drives the pin 22045, and then drives the chain mounting plate 22044 and the connecting plate 2203. The connecting plate 2203 drives the X-ray machine 2204 to move along the axis of the guide rail 2206 through the screw 22043 and the flat key, so as to realize the function of scanning the anchor support area.

[0088] The anchor bolt anchoring image detection system provided in the present embodiment realizes the imaging detection of anchor bolt anchoring quality, penetrates deep into the interior of the anchor bolt support masonry structure, and the detection method is vivid and intuitive, avoiding the destructiveness of the pull-out force test, avoiding the non-intuitiveness and noise interference of the acoustic detection, realizing the imaging detection of the uniformity and distribution area of ​​the anchoring agent, and can intuitively display the distribution of the anchoring agent, realizing the imaging detection of the internal quality of the tunnel masonry structure, and can show the internal crack propagation of the tunnel masonry structure before and after anchoring, opening the black box of the internal structure of the anchor bolt support, realizing transparent detection of the internal anchor bolt support, and can more comprehensively reveal the reliability of the anchor drilling rig support. Computer image recognition technology is used to read and analyze the imaging detection results of the anchor bolt anchoring quality, and obtain data information such as the overall completeness, straightness, parallelism, and anchoring angle of the anchor bolt inside the masonry structure.

[0089] Reference Fig.14As shown, the reliability test system includes a roof test block installation module, a test block bonding and fixing module, and a test block removal module. The roof test block installation module includes a test block storage area 24, a vertical protective plate 25, a lateral protective plate 26, a longitudinal support beam 27, a transverse support beam 28, a test block 29, and a loader 30. The loader 30 is used to fork the test block 29 from the test block storage area 24 and install the test block 29 on the roof masonry structure 5 in sequence. The working fork of the loader 30 forks the test block 29 and lifts the working fork to align the test block 29 with the roof masonry structure 5. The push cylinder of the loader 30 drives the push manipulator to extend, pushing the test block 29 to move to the roof masonry structure 5, so as to This completes the installation of one test block 29, and the above process is repeated to install multiple test blocks 29 in sequence. The longitudinal support beam 27 and the transverse support beam 28 vertically fix the test block 29, the vertical protective plate 25 is welded to the transverse support beam 28, and a second groove is opened on the top thereof, and the two ends of the lateral protective plate 26 are respectively arranged in the second grooves of the two adjacent vertical protective plates 25. The vertical protective plate 25 and the lateral protective plate 26 constitute a fence with a certain height, which is used to maintain the lateral stability of the tunnel surrounding rock test block 29 during the drilling rig anchoring test.

[0090] Reference Fig.15As shown, there are gaps between the installed test blocks 29, which cannot transfer loads. The surrounding rock of the underground tunnel is a whole. The mining force can be transferred in the surrounding rock of the tunnel with different materials. For this purpose, a test block bonding and fixing module is developed. The gaps between the test blocks 29 are filled with anchoring agent by using a glue coating machine 31. The anchoring agent solidifies quickly and bonds the test blocks 29 to form a whole, simulating the integrity of the surrounding rock of the underground tunnel. The glue coating machine 31 includes a first working arm 3101, an anchoring agent storage bin 3102, a roller 3103, a partition 3104, a glue 3105 and a curing agent 3107. The adjacent There is a test block gap 32 between the two test blocks 29, the anchor storage bin 3102 is arranged at the end of the first working arm 3101, and two bins are arranged inside the anchor storage bin 3102, both bins are provided with flexible filling bags, the glue 3105 is arranged in one flexible filling bag, the glue 3105 is a mixture of resin, accelerator, thixotropic agent and filler, the curing agent 3107 is arranged in the other flexible filling bag, the bottoms of the two flexible filling bags are provided with holes and are closed with flexible films, the partition 3104 is arranged at one end of the anchor storage bin 3102 close to the first working arm 3101, and the other end is provided with a partition plate 3104. A V-shaped groove is provided at one end, and the two wings of the V-shaped groove have nozzles 3106, and the nozzle 3106 is a mesh plate structure. A roller 3103 is arranged between the first working arm 3101 and the partition 3104. The first working arm 3101 is a sleeve structure, and a pressurized oil cylinder is arranged inside. The pressurized oil cylinder can drive the roller 3103 to approach the partition 3104 and squeeze the partition 3104. During this process, the pressurized oil cylinder keeps the two rollers 3103 in squeezing contact with the surface of the partition 3104 through the balance valve, and the squeezing force is kept at a predetermined value. The putty 3105 and the curing agent 3107 break through the bottom of the flexible filling bag. The flexible film is joined by the nozzle 3106 and flows into the test block gap 32. The first working arm 3101 drives the anchor storage bin 3102 to reciprocate along the test block gap 32, realizing the secondary mixing of the glue 3105 and the curing agent 3107, and gradually filling the test block gap 32, thereby solving the technical problem of the resin glue and the curing agent 3107 adhering to each other in the glue coating machine 31. At the same time, the spatial convergence and secondary fusion ensure that the resin glue and the curing agent 3107 are fully mixed, effectively ensuring the bonding strength and bonding speed. The test blocks 29 are quickly bonded and fixed to each other, effectively ensuring the integrity of the tunnel and the stress transmission of the surrounding rock.

[0091] Reference Fig.16As shown, the test block disassembly module includes a lift 33 and a cutter 34. The cutter 34 has a second working arm 3401. The second working arm 3401 is a sleeve structure with a built-in hydraulic cylinder. The end of the second working arm 3401 is hingedly connected with a cutter head. The cutter head is designed as a special material saw blade and is assembled at the front end of the second working arm 3401. The cutter head is hinged to the front end of the second working arm 3401. The motor drives the cutter head to rotate through a coupling. The lift 33 has four lifting arms, and two adjacent lifting arms are connected by a rib plate to ensure the consistency of the lifting arms extending, so as to ensure that the four lifting arms reach the bottom of the test block 29 at the same time, and drive the second working arm 3401 to drive the cutter head to reciprocate along the test block gap 32 to cut the glue 3105 and the curing agent 3107 in the test block gap 32, that is, the cutter 34 drives the second working arm 3401 to move upward. The cutter head is raised to align with the test block gap 32, the motor drives the cutter head saw blade to rotate, the workbench drives the second working arm 3401 to descend, the cutter head cuts into the test block gap 32, the second working arm 3401 extends, drives the cutter head to move along the test block gap 32, and after reaching the end of the test block gap 32, the second working arm 3401 stops extending and descends a certain stroke, the cutter head continues to cut into the test block gap 32, completing the secondary feed cutting, the second working arm 3401 retracts, drives the cutter head to move along the test block gap 32, returns to the initial position, and repeats this reciprocating cycle to complete the cutting of the anchoring adhesive inside the test block gap 32, drives the lift 33, drives the lift arm to lift the test block 29 away from the top of the simulated tunnel, the loader 30 lifts the test block 29 on the lift arm, and transports the test block 29 to the test block storage area 24, and repeats the above process to complete the rapid disassembly of the top plate simulation test block.

[0092] Reference Fig.17 and Fig.18 As shown, some embodiments of the present invention also provide an evaluation method for the reliability of anchor drilling rig support, which is completed based on the above-mentioned anchor drilling rig support reliability testing device, and an anchor drilling rig support reliability accelerated test scheme and an anchor drilling rig support reliability evaluation index system matrix are developed, which is characterized in that it includes an anchor drilling rig support reliability accelerated index system and a system of factors affecting anchor drilling rig support reliability.

[0093] The reliability test of anchor drilling rig requires a long test time and a large test sample. The anchor drilling rig support reliability acceleration test aims to shorten the test time and reduce the number of test samples. The anchor drilling rig support reliability acceleration index system includes four acceleration indexes, namely, increasing the feed cylinder flow to increase the drilling rig feed speed, the acceleration code is A1, and the normal code is A0; increasing the drill box motor flow to increase the drill box rotation speed, the acceleration code is B1, and the normal code is B0; increasing the hardness of the tunnel test block to increase the drilling rig feed resistance and the drill box rotation cutting resistance, the acceleration code is C1, and the normal code is C0; increasing the frequency of drilling rig use through continuous tests, the acceleration code is D1, and the normal code is D0. The reliability acceleration test of anchor drilling rig support needs to select at least one of the above acceleration indicators. According to the basic theory of permutations and combinations, there are a total of fifteen acceleration test schemes that meet the requirements, among which the test conditions coded as A1B1C1D1 are the most demanding and the test time is the shortest. Therefore, for application scenarios with relatively harsh mining conditions, the A1B1C1D1 acceleration test scheme is preferred, that is, increasing the flow of the feed cylinder to increase the feed speed of the drilling rig, increasing the flow of the drill box motor to increase the rotation speed of the drilling box, increasing the hardness of the tunnel test block to increase the feed resistance of the drilling rig and the rotary cutting resistance of the drill box, and increasing the frequency of use of the drilling rig through continuous testing. For application scenarios with relatively good mining conditions, relatively loose accelerated life test schemes can be selected, such as A0B0C0D1, A0B0C1D0, etc.

[0094] The acceleration coefficient τ is also called the acceleration factor, which is the product life characteristic ε0 under the normal stress level S0 and the product life characteristic ε under the accelerated stress level Si. i The acceleration coefficient τ is expressed as:

[0095] τ=ε0 / ε i (4)

[0096] According to the distribution characteristics of the life of anchor drilling rig support, the acceleration coefficient of the accelerated test of the reliability of anchor drilling rig support is determined. When the life obeys the exponential distribution, the life characteristic takes the average life. When the life obeys the Weibull distribution, the life characteristic takes the characteristic life. When the life obeys the lognormal distribution, the life characteristic takes the median life.

[0097] The factor system affecting the reliability of anchor drilling rig support includes three dimensions, namely, task profile, tunnel geological conditions and test assessment scheme. The task profile dimension includes two conditions, top anchor and auxiliary anchor. The tunnel geological condition dimension includes six influencing factors, namely, blade-shaped layered rock tunnel, block rock tunnel, broken rock tunnel, clay filling zone and broken zone tunnel, semi-coal rock tunnel and coal tunnel. The test assessment scheme includes conventional tests and different accelerated life test schemes, a total of 16 assessment factors. Two evaluation matrices, top anchor task profile and auxiliary anchor task profile, are generated. Finally, the three-dimensional displacement of the anchor end, the straightness of the anchor inside the anchoring area, the distribution area of ​​the anchoring agent, and the number of cracks in the anchoring area are used as anchor support reliability evaluation indicators. 196 working conditions are obtained. The probability distribution curves of the above evaluation indicators form a knowledge base for anchor drilling rig support reliability evaluation, forming an indicator system that comprehensively covers various usage scenarios. The reliability evaluation method is more scientific, and the reliability evaluation indicators are more comprehensive and specific.

[0098] The reliability index variable under the top anchor task profile of the anchor drilling rig is D, and the reliability index system matrix is:

[0099]

[0100] Among them, the first row of the matrix represents the reliability index values ​​corresponding to the conventional test and different accelerated life test schemes under the geological conditions of blade-shaped layered rock tunnels, the second row of the matrix represents the reliability index values ​​corresponding to the conventional test and different accelerated life test schemes under the geological conditions of blocky rock tunnels, the third row of the matrix represents the reliability index values ​​corresponding to the conventional test and different accelerated life test schemes under the geological conditions of broken rock tunnels, the fourth row of the matrix represents the reliability index values ​​corresponding to the conventional test and different accelerated life test schemes under the geological conditions of clay filling belts and broken belt tunnels, the fifth row of the matrix represents the reliability index values ​​corresponding to the conventional test and different accelerated life test schemes under the geological conditions of semi-coal rock tunnels, and the sixth row of the matrix represents the reliability index values ​​corresponding to the conventional test and different accelerated life test schemes under the geological conditions of coal tunnels;

[0101] The reliability index variable under the anchoring task profile of the anchor drill is B, and the reliability index system matrix is:

[0102]

[0103] Among them, the first row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of blade-shaped layered rock tunnels, the second row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of blocky rock tunnels, the third row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of broken rock tunnels, the fourth row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of clay filling belts and broken belt tunnels, the fifth row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of semi-coal rock tunnels, and the sixth row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of coal tunnels.

[0104] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0105] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments described herein, but should conform to the widest scope consistent with the principles and novel features invented herein.

Claims

1. A bolting rig support reliability testing device, characterized in that: include: An underground environment simulation system, the underground environment simulation system comprising a simulated tunnel and a tunnel pressure simulation mechanism, the simulated tunnel is used to simulate the real size and surface morphology of the tunnel, the tunnel pressure simulation mechanism comprises a roof pressure simulation, a side wall pressure simulation and a roof and side wall combined pressure simulation; An anchor support monitoring system, the anchor support monitoring system is used to monitor the row spacing, spacing and three-dimensional displacement of the anchor support; An anchor bolt anchoring image detection system, the anchor bolt anchoring image detection system is used to detect the straightness of the anchor bolt and the cracks generated inside the simulated tunnel; A reliability test system, wherein the reliability test system realizes reliability test objectives of multiple rows and multiple anchor supports.

2. The anchor drilling rig support reliability testing device according to claim 1 is characterized in that: The simulated tunnel comprises a mining simulation area (1), excavation equipment (2), a side masonry structure (3), an anchor support test area (4) and a roof masonry structure (5); the side masonry structure (3) and the roof masonry structure (5) form a rectangular cavern structure; the anchor support test area (4) is arranged in the rectangular cavern structure; the mining simulation area (1) is arranged at the head of the simulated tunnel; the excavation equipment (2) performs cutting and feeding operations in the mining simulation area (1) to generate coal mining power; and the coal mining power is transmitted from the mining simulation area (1) to the side masonry structure (3) and the roof masonry structure (5).

3. The anchor drilling rig support reliability testing device according to claim 1, characterized in that: The simulated tunnels include blade-shaped layered rock tunnels, blocky rock tunnels, broken rock tunnels, clay filling zone and broken zone tunnels, semi-coal rock tunnels and coal tunnels in the excavation direction, and the roof and side surfaces of the simulated tunnels are both uneven surfaces.

4. The anchor drilling rig support reliability testing device according to claim 1, characterized in that: The tunnel pressure simulation mechanism comprises a column (6), a side pressure simulation structure (7), a top plate pressure loading cylinder (8), a mass block (9), a limit block (10) and a crossbeam (11); The number of the columns (6) is four, and the four columns (6) are symmetrically arranged on both sides of the simulated tunnel. The crossbeam (11) is arranged on the top of the column (6). The mass block (9) passes through the column (6), and a limiting hole is arranged on the upper part of the column (6). The height of the limiting hole is slightly greater than the height of the simulated tunnel. The limiting block (10) is arranged in the limiting hole to support the mass block (9). The number of the top plate pressure loading cylinders (8) is two, and the two top plate pressure loading cylinders (8) are symmetrically arranged on both sides of the simulated tunnel and located on the inner side of the column (6). The top plate pressure loading cylinders (8) are driven to drive the mass block (9) to reciprocate along the axial direction of the column (6) so that the mass block (9) is separated from and in contact with the top plate of the simulated tunnel. The number of the side wall pressure simulation structures (7) is four, and the four side wall pressure simulation structures (7) are symmetrically arranged on both sides of the simulated laneway. The side wall pressure simulation structure (7) comprises a box hinge pin shaft (701), a box body (702), a sleeve hinge pin shaft (703), a sleeve (704), and a side wall loading cylinder (705). The box body (702) is formed by welding steel plates and is arranged on the ground. A track is arranged inside the box body (702). The sleeve (704) is connected to the track, the cylinder of the side wall loading cylinder (705) is hinged to the box body (702) through the box body hinge pin (701), and the piston rod of the side wall loading cylinder (705) is hinged to the sleeve (704) through the sleeve hinge pin (703), driving the side wall loading cylinder (705), the piston rod of the side wall loading cylinder (705) extends, driving the sleeve (704) to extend and contact the side wall of the simulated tunnel.

5. The anchor drilling rig support reliability testing device according to claim 2, characterized in that: The anchor support monitoring system comprises an anchor end (12), a universal visual sensor (13), an equipment coordinate system (14), a sensor coordinate system (15) and a measurement and control workstation (16), wherein the anchor end (12) is an exposed anchor end that has completed support, two universal visual sensors (13) are provided, and the two universal visual sensors (13) are symmetrically arranged on the mining equipment (2), the universal visual sensor (13) comprises a pitch rotation axis, a control center and a left and right rotation axis, the pitch rotation axis is provided with an integrated image sensor signal transmitter and a signal receiver, the input end of the pitch rotation axis is connected to a limited angle torque motor, and a support arm is provided on the outside of the pitch rotation axis, the bottom of the support arm is connected to the left and right rotation axes, the control center drives the limited angle torque motor to drive the pitch rotation axis, thereby driving the image sensor signal transmitter and signal receiver to pitch and rotate, so as to scan the anchor ends (12) arranged on the top plate and side of the simulated tunnel in the same row; The device coordinate system (14) is set at the geometric center of the mining equipment (2), the sensor coordinate system (15) is set at the center of the two universal vision sensors (13), the limited angle torque motor is provided with an angle sensor, the pitch angle and left and right rotation angle of the sensor coordinate system (15) are measured by the angle sensor, and the measurement and control workstation (16) is provided with a laser pulse transmitter, a laser diode, a reflective prism, a receiver and a counter. The laser pulse transmitter periodically drives the laser diode to emit laser pulses, the reflective prism guides the laser and scans at a constant speed, the signal receiver receives the emission signal of the laser diode, the counter counts the difference between the emission time of the laser diode and the reception time of the signal receiver, calculates the straight-line distance between the measured point and the reflective prism according to the time difference between the laser emission and return and the propagation speed of the laser, and calculates the three-dimensional coordinates of the measured point in the sensor coordinate system (15) according to the horizontal scanning angle and the longitudinal scanning angle of the laser, so as to transform them into coordinate values ​​of the device coordinate system (14) to generate the simulated tunnel point cloud.

6. The anchor drilling rig support reliability testing device according to claim 2, characterized in that: The anchor bolt anchoring image detection system comprises a test process slot (17), an image receiver (18), an anchor bolt (21), an X-ray generator (22) and an anchoring agent (23). The test process slot (17) is opened on both sides of the support area of ​​the side masonry structure (3) and the top plate masonry structure (5), and the test process slot (17) is arranged parallel to the support direction of the anchor bolt (21). The image receiver (18) and the X-ray generator (22) are arranged inside the test process slot (17). The anchor bolt (21) is arranged in the simulated tunnel through the anchoring agent (23) and is located between the two test process slots (17). The X-ray generator (22) is driven to emit X-rays to penetrate the anchor bolt support area between the two test process slots (17). The image receiver (18) receives the X-rays to obtain internal image information of the anchor bolt support area.

7. The anchor drilling rig support reliability testing device according to claim 6, characterized in that: The X-ray generator (22) comprises a redirecting wheel (2201), a chain (2202), a connecting plate (2203), an X-ray machine (2204), a narrow slit straightening plate (2205), a guide rail (2206), a wire displacement sensor (2207), a motor (2208), a driving wheel (2209) and an electrical control box (2210). The narrow slit straightening plate (2205) is arranged at the transmitting end of the X-ray machine (2204). The X-ray machine (2204) is slidably connected to the guide rail (2206), and the X-ray machine (2204) is connected to the chain (2202) via the connecting plate (2203). The two ends of the chain (2202) are respectively meshed with the redirecting wheel (2201) and the driving wheel (2209). The driving wheel (2210) 209) is arranged on the output shaft of the motor (2208) through a flat key, the electrical control box (2210) controls the motor (2208) to drive the driving wheel (2209) to rotate, so as to drive the chain (2202) to move around the driving wheel (2209) and the redirecting wheel (2201), the chain (2202) drives the X-ray machine (2204) to move along the guide rail (2206) through the connecting plate (2203), one end of the wire displacement sensor (2207) is arranged at the end of the guide rail (2206), and the other end is arranged at the bottom of the X-ray machine (2204), and the wire displacement sensor (2207) is arranged parallel to the guide rail (2206) to collect displacement data of the X-ray machine (2204); The X-ray machine (2204) comprises a housing (22041), two supporting plates (22042), a chain mounting plate (22044) and a pin shaft (22045). The two supporting plates (22042) are symmetrically arranged at one end of the housing (22041) away from the guide rail (2206) along the extension direction of the guide rail (2206), and the two supporting plates (22042) are both provided with a first groove. The number of the narrow slit straightening plates (2205) is two. The two narrow slit straightening plates (2205) are respectively arranged in the two first grooves, and the opposite sides form a slit. The housing (220 41), two groups of cylindrical holes are symmetrically opened along the extension direction of the guide rail (2206), the two guide rails (2206) pass through the two groups of cylindrical holes respectively, the chain mounting plate (22044) is symmetrically arranged on the connecting plate (2203), the pin shaft (22045) passes through the chain mounting plate (22044) and the chain (2202), and the pin shaft (22045) and the chain mounting plate (22044) are interference fit, and the pin shaft (22045) and the chain (2202) are clearance fit, so that the chain (2202) rotates around the pin shaft (22045).

8. The anchor drilling rig support reliability testing device according to claim 2, characterized in that: The reliability test system includes a top plate test block installation module, a test block bonding and fixing module, and a test block removal module; The roof test block installation module comprises a test block storage area (24), a vertical protection plate (25), a lateral protection plate (26), a longitudinal support beam (27), a transverse support beam (28), a test block (29) and a loader (30); the loader (30) is used to fork the test block (29) from the test block storage area (24) and install the test block (29) on the roof masonry structure (5) in sequence; the longitudinal support beam (27) and the transverse support beam (28) vertically fix the test block (29); the vertical protection plate (25) is welded to the transverse support beam (28), and a second groove is opened on the top of the vertical protection plate (25); and the two ends of the lateral protection plate (26) are respectively arranged in the second grooves of two adjacent vertical protection plates (25); The test block bonding and fixing module comprises a first working arm (3101), an anchoring agent storage bin (3102), a roller (3103), a partition (3104), a cement (3105) and a curing agent (3107), a test block gap (32) is provided between two adjacent test blocks (29), the anchoring agent storage bin (3102) is arranged at the end of the first working arm (3101), and two bin bodies are arranged inside the anchoring agent storage bin (3102), both bin bodies are provided with a flexible filling bag, the cement (3105) is arranged in one of the flexible filling bags, and the curing agent (3107) is arranged in the other of the flexible filling bags. In the filling bag, the partition (3104) is arranged at one end of the anchor storage bin (3102) close to the first working arm (3101), and the other end is provided with a V-shaped groove, and both wings of the V-shaped groove have nozzles (3106). A roller (3103) is arranged between the first working arm (3101) and the partition (3104), and the first working arm (3101) is driven to drive the roller (3103) to squeeze the partition (3104), so that the glue (3105) and the curing agent (3107) break through the flexible filling bag, and merge from the nozzle (3106) and flow into the test block gap (32); The test block disassembly module comprises a lift (33) and a cutter (34), wherein the cutter (34) has a second working arm (3401), and the end of the second working arm (3401) is hingedly connected to a cutter head. The lift (33) has four lift arms, and two adjacent lift arms are connected by a rib plate. The second working arm (3401) is driven to drive the cutter head to reciprocate along the test block gap (32) to cut the glue (3105) and the curing agent (3107) in the test block gap (32). The lift (33) is driven to drive the lift arm to lift the test block (29) away from the top of the simulated tunnel. The loader (30) lifts the test block (29) on the lift arm and transports the test block (29) to the test block storage area (24).

9. A method for evaluating the reliability of anchor drilling rig support, based on the anchor drilling rig support reliability testing device according to any one of claims 1 to 8, develops an anchor drilling rig support reliability accelerated test scheme and an anchor drilling rig support reliability evaluation index system matrix, characterized in that: It includes the bolter support reliability acceleration index system and the bolter support reliability factor system; The anchor drilling rig support reliability acceleration index system includes four acceleration indexes, namely increasing the feed cylinder flow to increase the drilling rig feed speed, increasing the drill box motor flow to increase the drill box rotation speed, increasing the hardness of the roadway test block to increase the drilling rig feed resistance and the drill box rotation cutting resistance, and increasing the drilling rig use frequency; The system of factors affecting the reliability of anchor drilling rig support includes three dimensions, namely, task profile, tunnel geological conditions and test assessment plan. The task profile dimension includes two conditions: top anchor and auxiliary anchor. The tunnel geological condition dimension includes six influencing factors: leaf-shaped layered rock tunnel, blocky rock tunnel, broken rock tunnel, clay filling zone and broken zone tunnel, semi-coal rock tunnel and coal tunnel. The test assessment plan includes conventional tests and different accelerated life test plans, totaling sixteen assessment factors.

10. The method for evaluating the reliability of anchor drilling rig support according to claim 9, characterized in that: The acceleration codes of the four acceleration indicators are A1, B1, C1 and D1, and the normal codes are A0, B0, C0 and D0. By taking at least one code, fifteen acceleration test schemes can be obtained by permutation and combination theory, among which A1B1C1D1 acceleration test scheme is preferred.

11. The method for evaluating the reliability of anchor drilling rig support according to claim 9, characterized in that: The reliability index variable under the top anchor task profile of the anchor drilling rig is D, and the reliability index system matrix is: Among them, the first row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of blade-shaped layered rock tunnels, the second row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of blocky rock tunnels, the third row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of broken rock tunnels, the fourth row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of clay filling belts and broken belt tunnels, the fifth row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of semi-coal rock tunnels, and the sixth row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of coal tunnels; The reliability index variable under the anchoring task profile of the anchor drilling rig is B, and the reliability index system matrix is: Among them, the first row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of blade-shaped layered rock tunnels, the second row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of blocky rock tunnels, the third row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of broken rock tunnels, the fourth row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of clay filling belts and broken belt tunnels, the fifth row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of semi-coal rock tunnels, and the sixth row of the matrix represents the reliability index values ​​corresponding to conventional tests and different accelerated life test schemes under the geological conditions of coal tunnels.

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